US4402234A - Three-axis wrist mechanism - Google Patents
Three-axis wrist mechanism Download PDFInfo
- Publication number
- US4402234A US4402234A US06/292,725 US29272581A US4402234A US 4402234 A US4402234 A US 4402234A US 29272581 A US29272581 A US 29272581A US 4402234 A US4402234 A US 4402234A
- Authority
- US
- United States
- Prior art keywords
- tool
- axes
- axis
- housing
- base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
- B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19642—Directly cooperating gears
- Y10T74/1966—Intersecting axes
- Y10T74/19665—Bevel gear type
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
Definitions
- This invention relates to wrist mechanisms and more particularly to such mechanisms having three independent axes of rotation.
- FIG. 1 is a cross-sectional elevational view showing a wrist mechanism in one operating attitude
- FIG. 2 is a cross-sectional elevational view showing the wrist mechanism in another operating attitude.
- a wrist mechanism 10 having a relatively stationary base member 12 adapted to be connected to a boom or support arm, not shown.
- the base 12 has a longitudinal axis 14 about which are circumferentially spaced a plurality of input or drive shafts 16, 18 and 20.
- the drive shaft 16 is rotatably supported in a pair of needle bearings 22 and 24 and has secured thereto a drive gear 26.
- the drive shaft 18 is rotatably supported in a pair of needle bearings 28 and 30 and has secured thereto a drive gear 32.
- the drive shaft 20 has a pair of needle bearings 34 and 36 and has secured thereto a drive gear 38.
- the base 12 has a housing member 40 rotatably supported thereon by ball bearings 42 and 44 for rotation about the axis 14. Rotation of housing 40 about axis 14 is achieved through an integral gear 46 which meshes with drive gear 26 and therefore rotates in response to rotation of input shaft 16.
- the base 12 has a sleeve member 48 rotatably supported thereon on ball bearings 50 and 52 for rotation about the axis 14.
- the sleeve 48 has secured thereto a gear member 54 which meshes with gear 38 such that upon rotation of input shaft 20, the sleeve 48 will rotate about axis 14.
- the sleeve 48 also has secured thereto a bevel gear 56.
- the drive gear 32 on input shaft 18 meshes with a gear 58 which is supported for rotation about axis 14 on sleeve 48 by a pair of ball bearings 60 and 62. Secured to the gear 58 is a bevel gear 64.
- the housing 40 has an aperture or opening 66 disposed about an intermediate axis 68 which is angularly displaced from axis 14 by the amount of angle 70.
- the axes 68 and 14 intersect at a point 72.
- the aperture 66 has secured therein a pair of ball bearings 74 and 76 which rotatably support in intermediate housing 78 for rotation about the axis 68.
- the housing 78 has a sleeve portion 80 extending along an axis 82 which is angularly displaced from the axis 68 by the amount of angle 84.
- the axis 82 intersects both axes 14 and 68 at the point 71 such that the three axes 14, 16 and 82 have a mutual point of intersection.
- the intermediate housing 78 has secured thereto a bevel gear 86 which meshes with the bevel gear 64 such that upon rotation of gear 32 by input shaft 18, the intermediate housing 78 will be rotated about axis 68.
- the intermediate housing 78 has secured therein a pair of ball bearings 88 and 90 which rotatably support a bevel gear assembly 92 for rotation about the axis 68.
- the bevel gear assembly 92 is comprised of a bevel gear 94 meshing with bevel gear 56 and a bevel gear 96.
- the bevel gear 96 meshes with a bevel gear 98 which is secured to or otherwise integrally formed on a tool support member 100 which is supported for rotation about axis 82 by ball bearings 102 and 104 which are secured in the intermediate housing 78.
- the tool support member 100 has secured thereto a tool mounting surface 106 which is adapted to support a work tool such as a welder or paint sprayer or other device which is useful in the assembly or finishing of a product.
- the tool support member 100 is rotated about the axis 82 in response to rotation of the drive shaft 20 through the meshing of gears 38 and 54, bevel gears 56 and 94, and bevel gears 96 and 98.
- sleeve member 48 has a longitudinal passage 108 which is unobstructed along axis 14.
- the housing 40 has a cavity 110 in which is disposed the gear assembly 92 which has an unobstructed central aperture 112.
- the intermediate housing 78 has a large internal cavity 114 also surrounding a portion of the gear assembly 92.
- the tool support member 100 has an unobstructed longitudinal opening 116 which is disposed along the axis 82. It is therefore readily apparent that an unobstructed passageway is provided from the relatively stationary base 12 to the tool mounting surface 106. This unobstructed passage can accommodate hoses and wires in a manner similar to that shown in U.S. Pat. No. 4,218,166.
- the axis 82 can be moved from the position shown in FIG. 1 and aligned with the axis 68 by rotating the housing 40 180° while maintaining the position of intermediate housing 78 relative to housing 40. By rotating the housing 40 360°, the axis 82 will generate a cone having an angle of a measure equal to angle 84.
- the axis 82 can be moved from the position shown in FIG. 1 to the position shown in FIG. 2 by rotating the intermediate housing 78 180° relative to the housing 40, while the housing 40 is maintained stationary relative to the base 12.
- the tool mounting surface 106 can be rotated through 360° by rotation of housing 40 while maintaining housing 78 stationary relative thereto.
- the axis 82 can be selectively positioned in an envelope defined by outer limits which are displaced from the axis 14 by the difference of the measure of angles 84 and 70 as one extreme and by the measure of the sum of the angles 70 and 84 as the other extreme.
- the tool mounting surface 106 can be rotated substantially 360° such that universal positioning of a tool disposed on the mounting surface 106 can be attained.
- the selection of angles 78 and 84 determines the total envelope size.
- the measure of angle 70 is 30° while the measure of angle 84 is 60°. Other angular measures can be used depending on the envelope size desired.
- the wrist mechanism 10 is particularly useful with robots which are controlled to perform various manufacturing and production processes such as spray painting and welding.
- the wrist mechanism 10 could be used with a clamp device which could be operated to position a component during assembly.
- the rotary motion of the input shafts 16, 18 and 20 can be accomplished by any of the available well-known rotary drive devices such as electric motors, pneumatic motors or hydraulic motors. If desired, the input shafts 16, 18 and 20 can be manipulated manually. It will also be apparent that the rotation of these input shafts can be controlled in a desired pattern by using a computer having an appropriate program to control the rotation of the input shafts. These devices are only cited by way of example and it will be apparent from the foregoing description, that the wrist mechanism 10 can be useful in most instances where a universal positioning device is necessary.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (3)
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/292,725 US4402234A (en) | 1981-08-13 | 1981-08-13 | Three-axis wrist mechanism |
CA000399389A CA1172286A (en) | 1981-08-13 | 1982-03-25 | Three-axis wrist mechanism |
EP82303686A EP0072624B1 (en) | 1981-08-13 | 1982-07-14 | Mechanical wrist mechanisms |
DE8282303686T DE3262658D1 (en) | 1981-08-13 | 1982-07-14 | Mechanical wrist mechanisms |
JP57140018A JPS5840292A (en) | 1981-08-13 | 1982-08-13 | Mechanical wrist mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/292,725 US4402234A (en) | 1981-08-13 | 1981-08-13 | Three-axis wrist mechanism |
Publications (1)
Publication Number | Publication Date |
---|---|
US4402234A true US4402234A (en) | 1983-09-06 |
Family
ID=23125927
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US06/292,725 Expired - Fee Related US4402234A (en) | 1981-08-13 | 1981-08-13 | Three-axis wrist mechanism |
Country Status (5)
Country | Link |
---|---|
US (1) | US4402234A (en) |
EP (1) | EP0072624B1 (en) |
JP (1) | JPS5840292A (en) |
CA (1) | CA1172286A (en) |
DE (1) | DE3262658D1 (en) |
Cited By (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4499784A (en) * | 1981-11-20 | 1985-02-19 | Westinghouse Electric Corp. | Split-ball type wrist and manipulating assembly for robot |
EP0146682A1 (en) * | 1983-12-22 | 1985-07-03 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Wrist mechanism for industrial robot |
EP0174208A1 (en) * | 1984-09-07 | 1986-03-12 | Integrated Laser Systems Limited | Manipulators |
US4579016A (en) * | 1983-03-01 | 1986-04-01 | Westinghouse Electric Corp. | Self-contained two-axis wrist module |
DE3601456A1 (en) * | 1985-01-22 | 1986-07-24 | GMF Robotics Corp., Troy, Mich. | Mechanical joint mechanism |
US4607538A (en) * | 1983-08-23 | 1986-08-26 | Jean Walterscheid Gmbh | Angular torque transmission mechanism |
US4642021A (en) * | 1983-06-27 | 1987-02-10 | Toyoda Koki Kabushiki Kaisha | Manipulation arm mechanism for an industrial robot |
US4657472A (en) * | 1983-08-03 | 1987-04-14 | Kuka Schweissanlagen+Roboter Gmbh | Manipulator head assembly |
US4662815A (en) * | 1983-08-03 | 1987-05-05 | Kuka Schweissanlagen+Roboter Gmbh | Manipulator head assembly |
US4678952A (en) * | 1985-08-13 | 1987-07-07 | Intelledex Incorporated | Sealed joint for a robot and the like |
US4683772A (en) * | 1985-07-25 | 1987-08-04 | Westinghouse Electric Corp. | Hand gear train with three degrees of freedom |
US4690012A (en) * | 1983-09-01 | 1987-09-01 | Asea Aktiebolag | Robot wrist |
US4691452A (en) * | 1986-07-18 | 1987-09-08 | Duff Norton Company | Articulable siphon tube assembly for dryer drum |
US4703668A (en) * | 1985-09-25 | 1987-11-03 | Champion Spark Plug Company | Wrist mechanism for a robot arm |
US4708580A (en) * | 1985-01-22 | 1987-11-24 | Gmf Robotics Corporation | Mechanical wrist mechanism |
US4736645A (en) * | 1985-07-19 | 1988-04-12 | Kuka-Schweissanlagen+Roboter Gmbh | Gear unit for a manipulator |
US4771652A (en) * | 1985-12-19 | 1988-09-20 | Kuka Schweissanlagen+Roboter Gmbh | Manipulator-head drive assembly |
US4787270A (en) * | 1987-02-11 | 1988-11-29 | Cincinnati Milacron Inc. | Robotic manipulator |
AU580759B2 (en) * | 1984-08-03 | 1989-02-02 | Kuka Schweissanlagen & Roboter Gmbh | Manipulator head assembly |
US4805477A (en) * | 1987-10-22 | 1989-02-21 | Gmf Robotics Corporation | Multiple joint robot part |
US4886938A (en) * | 1986-04-26 | 1989-12-12 | Endress U. Hauser Gmbh U. Co. | Arrangement for leading a cable into a housing |
US4964291A (en) * | 1982-09-09 | 1990-10-23 | Automated Coil Systems Limited | Coil shapers for coils of rotating electric machines |
GB2256847A (en) * | 1991-04-10 | 1992-12-23 | Generic Robot Elements Limited | End effector for a manipulator. |
US5255571A (en) * | 1992-06-25 | 1993-10-26 | United Parcel Service Of America, Inc. | Three degree of freedom actuator system |
US5293107A (en) * | 1993-02-24 | 1994-03-08 | Fanuc Robotics North America, Inc. | Motorized rotary joint and method of constructing a modular robot utilizing same |
USRE34597E (en) * | 1984-12-20 | 1994-05-03 | Gmfanuc Robotics Corporation | Robot-laser system |
US5887800A (en) * | 1997-09-03 | 1999-03-30 | Fanuc Robotics North America, Inc. | Robot wrist and spray applicator |
US6660043B2 (en) * | 2002-04-16 | 2003-12-09 | National Institute Of Advanced Industrial Science And Technology | Artificial hand |
US20040115360A1 (en) * | 2002-10-23 | 2004-06-17 | Clifford Scott J. | Robotic apparatus for painting |
US20060243087A1 (en) * | 2003-06-26 | 2006-11-02 | Abb As | Robot member |
US20080246204A1 (en) * | 2004-07-29 | 2008-10-09 | Elliott Company | Positioning Device for the Fabrication of Compressor Impellers |
US20080277919A1 (en) * | 2007-05-11 | 2008-11-13 | Guido Valentini | Swivel connector for suction conduit of surface machining tools |
US20110154938A1 (en) * | 2009-12-30 | 2011-06-30 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Robot arm assembly |
US20140076089A1 (en) * | 2012-09-14 | 2014-03-20 | Hon Hai Precision Industry Co., Ltd. | Robot arm assembly |
US20140350569A1 (en) * | 2011-04-21 | 2014-11-27 | Chang Wook Jeong | Minimally invasive surgical instrument implementing a motor |
US20170225340A1 (en) * | 2014-08-08 | 2017-08-10 | Valuebiotech S.R.L. | Articulated device for robotic systems |
US10022861B1 (en) * | 2017-04-27 | 2018-07-17 | Engineering Services Inc. | Two joint module and arm using same |
US11161135B2 (en) | 2018-05-03 | 2021-11-02 | Fanuc America Corporation | Robotic apparatus for a compact painting booth |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2139593B (en) * | 1983-03-10 | 1986-03-26 | Mitsubishi Electric Corp | Industrial robot |
DE3490498T1 (en) * | 1984-01-13 | 1985-11-28 | Mitsubishi Denki K.K., Tokio/Tokyo | Wrist for industrial robots |
US4637774A (en) * | 1984-02-29 | 1987-01-20 | Toyoda Koki Kabushiki Kaisha | Industrial robot |
SE441697B (en) * | 1984-03-20 | 1985-10-28 | Ericsson Telefon Ab L M | DEVICE FOR ADJUSTING THE PLAN OF A DEVICE PLATFORM IN AN ELECTIBLE TILT AND TURNING |
GB2168030B (en) * | 1984-12-01 | 1988-05-11 | Britannia Tool Company Limited | Fluid-operated rotary mechanism |
SE455926B (en) * | 1985-07-03 | 1988-08-22 | Asea Ab | INDUSTRIAL ROBOT |
JPS63247527A (en) * | 1987-04-02 | 1988-10-14 | Ishikawajima Harima Heavy Ind Co Ltd | Slag discharge apparatus of ash melting furnace |
JP6634800B2 (en) * | 2015-12-03 | 2020-01-22 | アダマンド並木精密宝石株式会社 | Joint mechanism and manipulator using the same |
CN106142131A (en) * | 2016-08-03 | 2016-11-23 | 希美埃(芜湖)机器人技术有限公司 | A kind of spray robot hollow wrist structure |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3231098A (en) * | 1963-05-01 | 1966-01-25 | Atomic Energy Authority Uk | Remote-control manipulators |
US3315542A (en) * | 1962-04-25 | 1967-04-25 | Commissariat Energie Atomique | Device for the transmission of movements and application of said device to remote handling appliances |
US3600967A (en) * | 1968-05-31 | 1971-08-24 | Commissariat Energie Atomique | Variable-orientation mechanism |
US3985238A (en) * | 1973-03-17 | 1976-10-12 | Daikin Kogyo Co., Ltd. | Industrial robot |
US4062455A (en) * | 1976-11-22 | 1977-12-13 | Flatau Carl R | Remote manipulator |
US4068536A (en) * | 1976-12-23 | 1978-01-17 | Cincinnati Milacron Inc. | Manipulator |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5117667Y2 (en) * | 1971-10-13 | 1976-05-12 | ||
US3712481A (en) * | 1971-12-23 | 1973-01-23 | Mc Donnell Douglas Corp | Actuator |
US3922930A (en) * | 1974-12-23 | 1975-12-02 | Nasa | Remotely operable articulated manipulator |
US4365928A (en) * | 1981-05-04 | 1982-12-28 | Cincinnati Milacron Inc. | Fluid power connector system for manipulator |
-
1981
- 1981-08-13 US US06/292,725 patent/US4402234A/en not_active Expired - Fee Related
-
1982
- 1982-03-25 CA CA000399389A patent/CA1172286A/en not_active Expired
- 1982-07-14 DE DE8282303686T patent/DE3262658D1/en not_active Expired
- 1982-07-14 EP EP82303686A patent/EP0072624B1/en not_active Expired
- 1982-08-13 JP JP57140018A patent/JPS5840292A/en active Granted
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3315542A (en) * | 1962-04-25 | 1967-04-25 | Commissariat Energie Atomique | Device for the transmission of movements and application of said device to remote handling appliances |
US3231098A (en) * | 1963-05-01 | 1966-01-25 | Atomic Energy Authority Uk | Remote-control manipulators |
US3600967A (en) * | 1968-05-31 | 1971-08-24 | Commissariat Energie Atomique | Variable-orientation mechanism |
US3985238A (en) * | 1973-03-17 | 1976-10-12 | Daikin Kogyo Co., Ltd. | Industrial robot |
US4062455A (en) * | 1976-11-22 | 1977-12-13 | Flatau Carl R | Remote manipulator |
US4068536A (en) * | 1976-12-23 | 1978-01-17 | Cincinnati Milacron Inc. | Manipulator |
Cited By (47)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4499784A (en) * | 1981-11-20 | 1985-02-19 | Westinghouse Electric Corp. | Split-ball type wrist and manipulating assembly for robot |
US4964291A (en) * | 1982-09-09 | 1990-10-23 | Automated Coil Systems Limited | Coil shapers for coils of rotating electric machines |
US4579016A (en) * | 1983-03-01 | 1986-04-01 | Westinghouse Electric Corp. | Self-contained two-axis wrist module |
US4642021A (en) * | 1983-06-27 | 1987-02-10 | Toyoda Koki Kabushiki Kaisha | Manipulation arm mechanism for an industrial robot |
US4657472A (en) * | 1983-08-03 | 1987-04-14 | Kuka Schweissanlagen+Roboter Gmbh | Manipulator head assembly |
US4662815A (en) * | 1983-08-03 | 1987-05-05 | Kuka Schweissanlagen+Roboter Gmbh | Manipulator head assembly |
US4607538A (en) * | 1983-08-23 | 1986-08-26 | Jean Walterscheid Gmbh | Angular torque transmission mechanism |
US4690012A (en) * | 1983-09-01 | 1987-09-01 | Asea Aktiebolag | Robot wrist |
EP0146682A1 (en) * | 1983-12-22 | 1985-07-03 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Wrist mechanism for industrial robot |
AU580759B2 (en) * | 1984-08-03 | 1989-02-02 | Kuka Schweissanlagen & Roboter Gmbh | Manipulator head assembly |
EP0174208A1 (en) * | 1984-09-07 | 1986-03-12 | Integrated Laser Systems Limited | Manipulators |
USRE34597E (en) * | 1984-12-20 | 1994-05-03 | Gmfanuc Robotics Corporation | Robot-laser system |
US4708580A (en) * | 1985-01-22 | 1987-11-24 | Gmf Robotics Corporation | Mechanical wrist mechanism |
DE3601456A1 (en) * | 1985-01-22 | 1986-07-24 | GMF Robotics Corp., Troy, Mich. | Mechanical joint mechanism |
US4736645A (en) * | 1985-07-19 | 1988-04-12 | Kuka-Schweissanlagen+Roboter Gmbh | Gear unit for a manipulator |
US4683772A (en) * | 1985-07-25 | 1987-08-04 | Westinghouse Electric Corp. | Hand gear train with three degrees of freedom |
US4678952A (en) * | 1985-08-13 | 1987-07-07 | Intelledex Incorporated | Sealed joint for a robot and the like |
US4703668A (en) * | 1985-09-25 | 1987-11-03 | Champion Spark Plug Company | Wrist mechanism for a robot arm |
US4771652A (en) * | 1985-12-19 | 1988-09-20 | Kuka Schweissanlagen+Roboter Gmbh | Manipulator-head drive assembly |
US4886938A (en) * | 1986-04-26 | 1989-12-12 | Endress U. Hauser Gmbh U. Co. | Arrangement for leading a cable into a housing |
US4691452A (en) * | 1986-07-18 | 1987-09-08 | Duff Norton Company | Articulable siphon tube assembly for dryer drum |
US4787270A (en) * | 1987-02-11 | 1988-11-29 | Cincinnati Milacron Inc. | Robotic manipulator |
US4805477A (en) * | 1987-10-22 | 1989-02-21 | Gmf Robotics Corporation | Multiple joint robot part |
GB2256847A (en) * | 1991-04-10 | 1992-12-23 | Generic Robot Elements Limited | End effector for a manipulator. |
US5255571A (en) * | 1992-06-25 | 1993-10-26 | United Parcel Service Of America, Inc. | Three degree of freedom actuator system |
US5341289A (en) * | 1992-06-25 | 1994-08-23 | United Parcel Service Of America, Inc. | Method for controlling three degree of freedom actuator system |
US5293107A (en) * | 1993-02-24 | 1994-03-08 | Fanuc Robotics North America, Inc. | Motorized rotary joint and method of constructing a modular robot utilizing same |
US5887800A (en) * | 1997-09-03 | 1999-03-30 | Fanuc Robotics North America, Inc. | Robot wrist and spray applicator |
US6660043B2 (en) * | 2002-04-16 | 2003-12-09 | National Institute Of Advanced Industrial Science And Technology | Artificial hand |
US20040115360A1 (en) * | 2002-10-23 | 2004-06-17 | Clifford Scott J. | Robotic apparatus for painting |
US20080083371A1 (en) * | 2002-10-23 | 2008-04-10 | Clifford Scott J | Robotic apparatus with non-conductive wrist for painting |
US7399363B2 (en) * | 2002-10-23 | 2008-07-15 | Fanuc Robotics America, Inc. | Robotic apparatus for painting |
US7638000B2 (en) | 2002-10-23 | 2009-12-29 | Fanuc Robotics America, Inc. | Robotic apparatus with non-conductive wrist for painting |
US20060243087A1 (en) * | 2003-06-26 | 2006-11-02 | Abb As | Robot member |
US8056889B2 (en) | 2004-07-29 | 2011-11-15 | Elliott Company | Positioning device for the fabrication of compressor impellers |
US20080246204A1 (en) * | 2004-07-29 | 2008-10-09 | Elliott Company | Positioning Device for the Fabrication of Compressor Impellers |
US20080277919A1 (en) * | 2007-05-11 | 2008-11-13 | Guido Valentini | Swivel connector for suction conduit of surface machining tools |
US20110154938A1 (en) * | 2009-12-30 | 2011-06-30 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Robot arm assembly |
US20140350569A1 (en) * | 2011-04-21 | 2014-11-27 | Chang Wook Jeong | Minimally invasive surgical instrument implementing a motor |
US10166075B2 (en) * | 2011-04-21 | 2019-01-01 | Movasu, Inc. | Minimally invasive surgical instrument implementing a motor |
US20140076089A1 (en) * | 2012-09-14 | 2014-03-20 | Hon Hai Precision Industry Co., Ltd. | Robot arm assembly |
US9254574B2 (en) * | 2012-09-14 | 2016-02-09 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Robot arm assembly |
US20170225340A1 (en) * | 2014-08-08 | 2017-08-10 | Valuebiotech S.R.L. | Articulated device for robotic systems |
US10583569B2 (en) * | 2014-08-08 | 2020-03-10 | Valuebiotech S.R.L. | Articulated device for robotic systems |
US10022861B1 (en) * | 2017-04-27 | 2018-07-17 | Engineering Services Inc. | Two joint module and arm using same |
US11161135B2 (en) | 2018-05-03 | 2021-11-02 | Fanuc America Corporation | Robotic apparatus for a compact painting booth |
US11383258B2 (en) | 2018-05-03 | 2022-07-12 | Fanuc America Corporation | Robotic painting booth and operating method |
Also Published As
Publication number | Publication date |
---|---|
JPS6224237B2 (en) | 1987-05-27 |
JPS5840292A (en) | 1983-03-09 |
EP0072624A2 (en) | 1983-02-23 |
EP0072624A3 (en) | 1983-05-25 |
EP0072624B1 (en) | 1985-03-20 |
DE3262658D1 (en) | 1985-04-25 |
CA1172286A (en) | 1984-08-07 |
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